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108 Chapter Eight

Upper bracket

Wire
6-32 brass nut
6-32 nuts

Base Robot base
6-32
plastic
machine
screw
Figure 8.31 Side dimensional detail (robot base side of the bump switch) of plastic screw
with top brass nut.

Figure 8.32 Close­up photograph detailing bump switch and spring mounting of upper bracket.

properly. The following short program will place a servomotor in its center
position:

start:
pulsout portb.1, 150
pause 18
goto start
The output pulse signal for the servomotor is taken as pin RB1. Once the ser­
vomotor is in its center position, attach the U bracket to the servomotor so that
the drive wheel is pointing forward.